TWI672586B - Power saving system and power saving method applied to intelligent robot - Google Patents
Power saving system and power saving method applied to intelligent robot Download PDFInfo
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- TWI672586B TWI672586B TW106139000A TW106139000A TWI672586B TW I672586 B TWI672586 B TW I672586B TW 106139000 A TW106139000 A TW 106139000A TW 106139000 A TW106139000 A TW 106139000A TW I672586 B TWI672586 B TW I672586B
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- 238000000034 method Methods 0.000 title claims description 29
- 238000004891 communication Methods 0.000 claims description 24
- 230000004913 activation Effects 0.000 claims description 6
- 238000012790 confirmation Methods 0.000 claims description 6
- 238000010586 diagram Methods 0.000 description 4
- 230000007423 decrease Effects 0.000 description 3
- 238000005265 energy consumption Methods 0.000 description 3
- 230000003993 interaction Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/007—Regulation of charging or discharging current or voltage
- H02J7/00712—Regulation of charging or discharging current or voltage the cycle being controlled or terminated in response to electric parameters
- H02J7/007182—Regulation of charging or discharging current or voltage the cycle being controlled or terminated in response to electric parameters in response to battery voltage
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/005—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators using batteries, e.g. as a back-up power source
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/026—Acoustical sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/048—Monitoring; Safety
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0063—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with circuits adapted for supplying loads from the battery
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/26—Pc applications
- G05B2219/2639—Energy management, use maximum of cheap power, keep peak load low
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Power Engineering (AREA)
- General Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Artificial Intelligence (AREA)
- Manipulator (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
- Power Sources (AREA)
Abstract
本發明提供一種應用於智慧型機器人的省電系統,包括中央控制器、第一裝置群組及第二裝置群組。第一裝置群組電性連接於中央控制器,當電池由第一電壓位準轉換至第二電壓位準時,中央控制器控制第一裝置群組停止接收電池的供電,第一電壓位準高於第二電壓位準。第二裝置群組電性連接於中央控制器,當電池由第二電壓位準轉換至第三電壓位準時,中央控制器控制第二裝置群組停止接收電池的供電,第二電壓位準高於第三電壓位準。其中,當電池由第三電壓位準轉換至電壓門檻值時,中央控制器控制智慧型機器人停止接收電池的供電。 The invention provides a power saving system applied to an intelligent robot, which includes a central controller, a first device group and a second device group. The first device group is electrically connected to the central controller. When the battery switches from the first voltage level to the second voltage level, the central controller controls the first device group to stop receiving power from the battery. The first voltage level is high At the second voltage level. The second device group is electrically connected to the central controller. When the battery is switched from the second voltage level to the third voltage level, the central controller controls the second device group to stop receiving power from the battery, and the second voltage level is high At the third voltage level. Wherein, when the battery switches from the third voltage level to the voltage threshold, the central controller controls the intelligent robot to stop receiving power from the battery.
Description
一種省電系統,尤指一種應用於智慧型機器人的省電系統及其省電方法。 A power saving system, especially a power saving system applied to a smart robot and a power saving method thereof.
由於時代的進步,機器人已經可以替代大量繁瑣勞力的工作,例如以機械手臂搬運貨物或步驟繁雜的工作。近年來,家用型機器人更為人們所喜愛,家用型機器人可用於室內清潔和人機互動功能。然而,一般的機器人的在電路設計上過於耗電,導致機器人的蓄電效率不佳。 Due to the advancement of the times, robots have been able to replace a lot of tedious and labor-intensive tasks, such as handling goods with a robotic arm or complicated tasks. In recent years, household robots have become more popular, and household robots can be used for indoor cleaning and human-machine interaction. However, the circuit design of a general robot consumes too much power, resulting in poor storage efficiency of the robot.
本發明實施例提供一種應用於智慧型機器人的省電系統,具有電池,電池以第一電壓位準供電至智慧型機器人。省電系統包括中央控制器、第一裝置群組及第二裝置群組。第一裝置群組電性連接於中央控制器,當電池由第一電壓位準轉換至第二電壓位準時,中央控制器控制第一裝置群組停止接收電池的供電,第一電壓位準高於第二電壓位準。第二裝置群組電性連接於中央控制器,當電池由第二電壓位準轉換至第三電壓位準時,中央控制器控制第二裝置群組停止接收電池的供電,第二電壓位準高於第三電壓位準。其中,當電池由第三電壓位準轉換至電壓門檻值時, 中央控制器控制智慧型機器人停止接收電池的供電。 Embodiments of the present invention provide a power saving system applied to a smart robot, which has a battery, and the battery supplies power to the smart robot at a first voltage level. The power saving system includes a central controller, a first device group, and a second device group. The first device group is electrically connected to the central controller. When the battery switches from the first voltage level to the second voltage level, the central controller controls the first device group to stop receiving power from the battery. The first voltage level is high At the second voltage level. The second device group is electrically connected to the central controller. When the battery is switched from the second voltage level to the third voltage level, the central controller controls the second device group to stop receiving power from the battery, and the second voltage level is high At the third voltage level. Wherein, when the battery is converted from the third voltage level to the voltage threshold, the central controller controls the intelligent robot to stop receiving power from the battery.
本發明實施例提供一種應用於智慧型機器人的省電系統,具有電池、中央控制器、第一裝置群組及第二裝置群組。中央控制器電性連接電池、第一裝置群組及第二裝置群組。電池以第一電壓位準供電至智慧型機器人。省電方法包括:當電池由第一電壓位準轉換至第二電壓位準時,中央控制器控制第一裝置群組停止接收電池的供電,第一電壓位準高於該第二電壓位準;當電池由第二電壓位準轉換至第三電壓位準時,中央控制器控制第二裝置群組停止接收電池的供電,第二電壓位準高於第三電壓位準;以及,當電池由第三電壓位準轉換至電壓門檻值時,中央控制器控制智慧型機器人停止接收電池的供電。 Embodiments of the present invention provide a power saving system applied to an intelligent robot, which has a battery, a central controller, a first device group, and a second device group. The central controller is electrically connected to the battery, the first device group and the second device group. The battery supplies power to the intelligent robot at the first voltage level. The power saving method includes: when the battery is switched from the first voltage level to the second voltage level, the central controller controls the first device group to stop receiving power from the battery, and the first voltage level is higher than the second voltage level; When the battery switches from the second voltage level to the third voltage level, the central controller controls the second device group to stop receiving power from the battery, the second voltage level is higher than the third voltage level; and, when the battery When the three voltage levels are converted to the voltage threshold, the central controller controls the intelligent robot to stop receiving power from the battery.
為使能更進一步瞭解本發明之特徵及技術內容,請參閱以下有關本發明之詳細說明與附圖,但是此等說明與所附圖式僅係用來說明本發明,而非對本發明的權利範圍作任何的限制。 In order to further understand the features and technical contents of the present invention, please refer to the following detailed description and drawings of the present invention, but these descriptions and the drawings are only used to illustrate the present invention, not the rights of the present invention Any restrictions on the scope.
1、2‧‧‧省電系統 1, 2‧‧‧Power saving system
100、200‧‧‧智慧型機器人 100、200‧‧‧smart robot
110、210‧‧‧電池 110, 210‧‧‧ battery
120、220‧‧‧中央控制器 120、220‧‧‧Central controller
130‧‧‧第一裝置群組 130‧‧‧First device group
140‧‧‧第二裝置群組 140‧‧‧Second device group
250‧‧‧通訊裝置 250‧‧‧Communication device
255‧‧‧發光裝置 255‧‧‧Lighting device
260‧‧‧麥克風陣列 260‧‧‧Microphone array
265‧‧‧麥克風 265‧‧‧ microphone
270‧‧‧影像擷取器 270‧‧‧Image capturer
275‧‧‧馬達 275‧‧‧Motor
280‧‧‧揚聲器 280‧‧‧speaker
285‧‧‧通用串行總線插槽 285‧‧‧Universal Serial Bus slot
290‧‧‧電源插槽 290‧‧‧Power socket
S305‧‧‧控制第一裝置群組停止接收電池的供電,傳送第一關閉訊號 S305‧‧‧Control the first device group to stop receiving power from the battery and transmit the first shutdown signal
S310‧‧‧控制第二裝置群組停止接收電池的供電,傳送第二關閉訊號 S310‧‧‧Control the second device group to stop receiving power from the battery and transmit the second shutdown signal
S315‧‧‧控制智慧型機器人停止接收電池的供電,傳送第三關閉訊號 S315‧‧‧Control the intelligent robot to stop receiving power from the battery and send the third shutdown signal
S355‧‧‧判斷USB插槽或電源插槽是否連接裝置 S355‧‧‧ judge whether the USB slot or power slot is connected to the device
S360‧‧‧馬達接收供電 S360‧‧‧Motor receives power
S365‧‧‧馬達停止接收供電 S365‧‧‧Motor stops receiving power
S405‧‧‧判斷揚聲器閒置是否超過預設時間 S405‧‧‧ judge whether the speaker is idle for more than the preset time
S410‧‧‧停止接收供電 S410‧‧‧stop receiving power
S415‧‧‧接收供電 S415‧‧‧Receive power
S420‧‧‧判斷麥克風是否接收啟動指令 S420‧‧‧ judge whether the microphone receives the start command
S425‧‧‧接收供電 S425‧‧‧Receive power supply
S505‧‧‧判斷USB插槽或電源插槽是否連接裝置 S505‧‧‧ judge whether the USB slot or power slot is connected to the device
S510‧‧‧發光 S510‧‧‧Glow
S515‧‧‧不發光 S515‧‧‧No light
S520‧‧‧判斷是否接收電量確認指令 S520‧‧‧ judge whether to receive the power confirmation command
S525‧‧‧播放語音及發光 S525‧‧‧Play voice and glow
S530‧‧‧不播放語音及不發光 S530‧‧‧Do not play voice and do not emit light
S605‧‧‧判斷麥克風是否接收啟動指令 S605‧‧‧Determine whether the microphone receives the start command
S610‧‧‧啟動麥克風陣列及影像擷取器 S610‧‧‧Activate microphone array and image capturer
S615‧‧‧不啟動 S615‧‧‧Not activated
S620‧‧‧判斷麥克風閒置是否超過預設時間 S620‧‧‧Determine whether the microphone is idle for more than the preset time
S625‧‧‧關閉麥克風陣列及影像擷取器 S625‧‧‧Turn off the microphone array and image capturer
圖1為本發明實施例的應用於智慧型機器人的省電系統的方塊圖。 FIG. 1 is a block diagram of a power saving system applied to an intelligent robot according to an embodiment of the present invention.
圖2為本發明實施例的另一應用於智慧型機器人的省電系統的方塊圖。 2 is a block diagram of another power saving system applied to a smart robot according to an embodiment of the present invention.
圖3A為本發明實施例的應用於智慧型機器人的省電方法的方法流程圖。 FIG. 3A is a method flowchart of a power saving method applied to an intelligent robot according to an embodiment of the present invention.
圖3B為本發明實施例的馬達的省電方法的方法流程圖。 3B is a method flowchart of a power saving method of a motor according to an embodiment of the invention.
圖4為本發明實施例的揚聲器的省電方法的方法流程圖。 4 is a method flowchart of a power saving method of a speaker according to an embodiment of the present invention.
圖5為本發明實施例的發光裝置的省電方法的方法流程圖。 FIG. 5 is a method flowchart of a power saving method of a light emitting device according to an embodiment of the present invention.
圖6為本發明實施例的麥克風陣列及影像擷取器的省電方法的方法流程圖。 FIG. 6 is a method flowchart of a power saving method of a microphone array and an image capture device according to an embodiment of the invention.
請參閱圖1所示,圖1為本發明實施例的應用於智慧型機器人的省電系統的方塊圖。省電系統1具有電池110,舉例來說,電池110可以為鉛蓄電池。電池110以第一電壓位準供電至智慧型機器人100內部的其他電子裝置。省電系統1包括中央控制器120、第一裝置群組130及第二裝置群組140。第一裝置群組130電性連接於中央控制器120。當電池110由第一電壓位準轉換至第二電壓位準時,中央控制器120控制第一裝置群組130停止接收電池110的供電,第一電壓位準高於第二電壓位準。舉例來說,第一電壓位準可以為16.8伏特(V),第二電壓位準可以為15.4伏特(V)。第二裝置群組140電性連接於中央控制器120,當電池110由第二電壓位準轉換至第三電壓位準時,中央控制器120控制第二裝置群組140停止接收電池110的供電,第二電壓位準高於第三電壓位準,舉例來說,第三電壓位準可以為14.2伏特(V)。其中,當電池110由第三電壓位準轉換至電壓門檻值時,中央控制器120控制智慧型機器人100內部的其他電子裝置停止接收電池110的供電,舉例來說,電壓門檻值可以為12伏特(V)。 Please refer to FIG. 1, which is a block diagram of a power saving system applied to an intelligent robot according to an embodiment of the present invention. The power saving system 1 has a battery 110. For example, the battery 110 may be a lead storage battery. The battery 110 supplies power to other electronic devices inside the intelligent robot 100 at the first voltage level. The power saving system 1 includes a central controller 120, a first device group 130, and a second device group 140. The first device group 130 is electrically connected to the central controller 120. When the battery 110 is switched from the first voltage level to the second voltage level, the central controller 120 controls the first device group 130 to stop receiving power from the battery 110, and the first voltage level is higher than the second voltage level. For example, the first voltage level may be 16.8 volts (V), and the second voltage level may be 15.4 volts (V). The second device group 140 is electrically connected to the central controller 120. When the battery 110 is switched from the second voltage level to the third voltage level, the central controller 120 controls the second device group 140 to stop receiving power from the battery 110. The second voltage level is higher than the third voltage level. For example, the third voltage level may be 14.2 volts (V). When the battery 110 is switched from the third voltage level to the voltage threshold, the central controller 120 controls other electronic devices inside the smart robot 100 to stop receiving power from the battery 110. For example, the voltage threshold may be 12 volts (V).
請同時參閱圖1及圖2,圖2為本發明實施例的另一應用於智慧型機器人的省電系統的方塊圖。省電系統2具有智慧型機器人200。 Please refer to FIG. 1 and FIG. 2 at the same time. FIG. 2 is a block diagram of another power saving system applied to an intelligent robot according to an embodiment of the present invention. The power saving system 2 has an intelligent robot 200.
智慧型機器人200具有電池210、中央處理器220、通訊裝置250、發光裝置255、麥克風陣列260、麥克風265、影像擷取器270、馬達275及揚聲器280。中央控制器220電性連接通訊裝置250、發光裝置255、麥克風陣列260、麥克風265、影像擷取器270、馬達275及揚聲器280。電池210用於提供電能至中央處理器220、通訊裝置250、發光裝置255、麥克風陣列260、麥克風265、影像擷取器270、馬達275及揚聲器280。 The intelligent robot 200 has a battery 210, a central processing unit 220, a communication device 250, a light emitting device 255, a microphone array 260, a microphone 265, an image capture device 270, a motor 275, and a speaker 280. The central controller 220 is electrically connected to the communication device 250, the light emitting device 255, the microphone array 260, the microphone 265, the image capturer 270, the motor 275 and the speaker 280. The battery 210 is used to provide power to the central processing unit 220, the communication device 250, the light emitting device 255, the microphone array 260, the microphone 265, the image capture device 270, the motor 275, and the speaker 280.
其中第一裝置群組130包括多個電子裝置。第二裝置群組140包括多個電子裝置,該些電子裝置為發光裝置255、麥克風陣列 260、麥克風265、影像擷取器270、馬達275或揚聲器280。第一裝置群組130的電子裝置與第二裝置群組140的電子裝置為相異。第一裝置群組130的電子裝置的工作電壓高於第二裝置群組140的電子裝置的工作電壓。換句話說,第一裝置群組130可以包括發光裝置255、麥克風陣列260、麥克風265、影像擷取器270、馬達275或揚聲器280及其組合。第二裝置群組140可以包括發光裝置255、麥克風陣列260、麥克風265、影像擷取器270、馬達275或揚聲器280及其組合。舉例來說,影像擷取器270及馬達275的工作電壓在15.4伏特(V),當電池210的供壓由16.8降低為15.4伏特(V)時,中央控制器210控制影像擷取器270及馬達275停止接收電池210的供電,此時,第一裝置群組130包括影像擷取器270及馬達275。麥克風265及揚聲器280的工作電壓在14.2伏特(V),當電池210的供壓由15.4伏特(V)降低為14.2伏特(V)時,中央控制器210控制麥克風265及揚聲器280停止接收電池210的供電,此時,第二裝置群組140包括麥克風265及揚聲器280。當電池210的供壓由14.2伏特(V)降低為12.0伏特(V)時,中央控制器210控制發光裝置255及麥克風陣列260停止接收電池210的供電。由於發光裝置255及麥克風陣列260屬於耗電量較低的電子裝置,當發光裝置255及麥克風陣列260停止接收電池210的供電時,中央控制器220控制智慧型機器人200內部多數的電子裝置停止接收電池210的供電。 The first device group 130 includes multiple electronic devices. The second device group 140 includes a plurality of electronic devices, such as a light emitting device 255, a microphone array 260, a microphone 265, an image capturer 270, a motor 275, or a speaker 280. The electronic devices of the first device group 130 are different from the electronic devices of the second device group 140. The operating voltage of the electronic devices of the first device group 130 is higher than the operating voltage of the electronic devices of the second device group 140. In other words, the first device group 130 may include a light emitting device 255, a microphone array 260, a microphone 265, an image capturer 270, a motor 275, or a speaker 280, and combinations thereof. The second device group 140 may include a light emitting device 255, a microphone array 260, a microphone 265, an image capturer 270, a motor 275, or a speaker 280, and combinations thereof. For example, the operating voltage of the image capturer 270 and the motor 275 is at 15.4 volts (V). When the supply voltage of the battery 210 is reduced from 16.8 to 15.4 volts (V), the central controller 210 controls the image capturer 270 and The motor 275 stops receiving power from the battery 210. At this time, the first device group 130 includes the image capturing device 270 and the motor 275. The working voltage of the microphone 265 and the speaker 280 is 14.2 volts (V). When the supply voltage of the battery 210 is reduced from 15.4 volts (V) to 14.2 volts (V), the central controller 210 controls the microphone 265 and the speaker 280 to stop receiving the battery 210 At this time, the second device group 140 includes a microphone 265 and a speaker 280. When the supply voltage of the battery 210 decreases from 14.2 volts (V) to 12.0 volts (V), the central controller 210 controls the light emitting device 255 and the microphone array 260 to stop receiving power from the battery 210. Since the light emitting device 255 and the microphone array 260 are electronic devices with low power consumption, when the light emitting device 255 and the microphone array 260 stop receiving power from the battery 210, the central controller 220 controls the majority of electronic devices in the smart robot 200 to stop receiving Battery 210 power supply.
智慧型機器人200更包括通訊裝置250,通訊裝置250電性連接中央控制器220。當中央控制器220控制第一裝置群組130停止接收電池210的供電時,通訊裝置250傳送第一關閉訊號至行動裝置(圖未示),舉例來說,行動裝置可以是智慧型手機、平板電腦或筆記型電腦,當使用者透過行動裝置接收到第一關閉訊號時,代表當電池210的供壓由第一電壓位準轉換至第二電壓位準。當中央控制器220控制第二裝置群組140停止接收電池210的供電 時,通訊裝置250傳送第二關閉訊號至行動裝置,代表當電池210的供壓由第二電壓位準轉換至第三電壓位準。當中央控制器220控制智慧型機器人220的多數電子裝置停止接收電池210的供電時,通訊裝置250傳送第三關閉訊號至行動裝置,代表電池210的供壓由第三電壓位準轉換至電壓門檻值。需要特別說的是,為了維持智慧型機器人200的通訊穩定性,通訊裝置250對於接收電池210的供電具有較高優先權,電池210可以透過電壓轉換器(圖未示)提高供壓並傳送至通訊裝置250,以提升智慧型機器人200的通訊品質。 The intelligent robot 200 further includes a communication device 250, which is electrically connected to the central controller 220. When the central controller 220 controls the first device group 130 to stop receiving power from the battery 210, the communication device 250 transmits a first shutdown signal to a mobile device (not shown). For example, the mobile device may be a smartphone or a tablet In a computer or a notebook computer, when the user receives the first shutdown signal through the mobile device, it means that the supply voltage of the battery 210 is switched from the first voltage level to the second voltage level. When the central controller 220 controls the second device group 140 to stop receiving power from the battery 210, the communication device 250 transmits a second shutdown signal to the mobile device, which represents when the supply voltage of the battery 210 is switched from the second voltage level to the third voltage Level. When the central controller 220 controls most electronic devices of the smart robot 220 to stop receiving power from the battery 210, the communication device 250 transmits a third shutdown signal to the mobile device, representing that the supply voltage of the battery 210 is switched from the third voltage level to the voltage threshold value. In particular, in order to maintain the communication stability of the intelligent robot 200, the communication device 250 has a higher priority for receiving power from the battery 210. The battery 210 can increase the supply voltage through a voltage converter (not shown) and transmit to The communication device 250 improves the communication quality of the intelligent robot 200.
智慧型機器人200更包括通用串行總線插槽(Universal Serial Bus,USB)285及電源插槽290,中央控制器220電性連接通用串行總線插槽285及電源插槽290。當通用串行總線插槽285及/或電源插槽290偵測到連接電子裝置時,中央控制器220控制馬達275停止接收電池210的供電,舉例來說,通用串行總線插槽285可以連接智慧型手機並對其充電,電源插槽290可以連接家用電源。換句話說,當偵測到智慧型機器人200正在進行供電或充電時,中央控制器220即關閉馬達275,避免智慧型機器人200產生移動或轉動,以維持用電安全性。另外,當通用串行總線插槽285及電源插槽220偵測到沒有連接電子裝置時,中央控制器220控制馬達275接收電池275的供電。另外,當通訊裝置250接收到行動裝置所傳送的移動指令或轉向指令時,智慧型機器人200即可產生移動或轉動。 The intelligent robot 200 further includes a Universal Serial Bus (USB) 285 and a power socket 290, and the central controller 220 is electrically connected to the Universal Serial Bus (285) and the power socket 290. When the universal serial bus slot 285 and/or the power socket 290 detect the connection of the electronic device, the central controller 220 controls the motor 275 to stop receiving power from the battery 210. For example, the universal serial bus slot 285 can be connected To charge and charge a smartphone, the power supply slot 290 can be connected to a household power supply. In other words, when it is detected that the smart robot 200 is supplying power or charging, the central controller 220 turns off the motor 275 to prevent the smart robot 200 from moving or rotating, so as to maintain power safety. In addition, when the universal serial bus slot 285 and the power slot 220 detect that no electronic device is connected, the central controller 220 controls the motor 275 to receive power from the battery 275. In addition, when the communication device 250 receives the movement command or the steering command transmitted by the mobile device, the intelligent robot 200 can move or rotate.
當揚聲器280處於閒置狀態且超過第一預設時間時,中央控制器220控制揚聲器280停止接收電池210的供電,舉例來說,當揚聲器280處於閒置狀態超過三分鐘時,中央控制器220可以關閉揚聲器280以節省電源消耗。當麥克風265接收到啟動指令時,中央控制器220控制揚聲器280接收電池的供電,舉例來說,當使用者說出開啟天氣預報時,中央控制器220可以啟動揚聲器 280,並由揚聲器280播放天氣預報。 When the speaker 280 is idle and exceeds the first preset time, the central controller 220 controls the speaker 280 to stop receiving power from the battery 210. For example, when the speaker 280 is idle for more than three minutes, the central controller 220 can be turned off The speaker 280 saves power consumption. When the microphone 265 receives the activation instruction, the central controller 220 controls the speaker 280 to receive the power supply of the battery. For example, when the user says to turn on the weather forecast, the central controller 220 can activate the speaker 280 and the speaker 280 plays the weather forecast.
當通用串行總線插槽285及/或電源插槽290偵測到連接電子裝置時,發光裝置255持續發光第二預設時間,舉例來說,當通用串行總線插槽285連接平板電腦及/或電源插槽290連接家用電源時,發光裝置255可以持續發光十秒鐘。當麥克風265接收到電量確認指令時,由揚聲器280播放剩餘電量語音,發光裝置255持續發光第二預設時間,舉例來說,當使用者說出電量確認並由麥克風265接收時,揚聲器280可以播放剩餘電量並持續發光十秒鐘。 When the universal serial bus slot 285 and/or the power socket 290 detect the connection of the electronic device, the light emitting device 255 continues to emit light for a second preset time. For example, when the universal serial bus slot 285 is connected to a tablet computer and When the power socket 290 is connected to a household power source, the light emitting device 255 can continue to emit light for ten seconds. When the microphone 265 receives the power confirmation command, the speaker 280 plays the remaining power voice, and the light emitting device 255 continues to emit light for a second preset time. For example, when the user speaks the power confirmation and the microphone 265 receives it, the speaker 280 may Play the remaining power and continue to light for ten seconds.
當麥克風265接收到啟動指令時,中央控制器220啟動麥克風陣列260及影像擷取器270,舉例來說,當使用者說出啟動麥克風260及影像擷取器270時,中央控制器220可以啟動麥克風陣列260及影像擷取器270。麥克風陣列260可以用於消除噪音以增加收音品質,影像擷取器270可以擷取人物影像及景物影像。當麥克風265處於閒置狀態且超過第三預設時間時,中央控制器220關閉麥克風陣列260及影像擷取器270。 When the microphone 265 receives the activation command, the central controller 220 activates the microphone array 260 and the image capturer 270. For example, when the user says to activate the microphone 260 and the image capturer 270, the central controller 220 can activate The microphone array 260 and the image capturer 270. The microphone array 260 can be used to eliminate noise to increase radio quality, and the image capturer 270 can capture person images and scene images. When the microphone 265 is idle and exceeds the third preset time, the central controller 220 turns off the microphone array 260 and the image capturer 270.
請同時參閱圖1、圖2及圖3A,圖3A為本發明實施例的應用於智慧型機器人的省電方法的方法流程圖。省電系統2具有電池210、中央控制器220、第一裝置群組130及第二裝置群組140,中央控制器220電性連接電池210、第一裝置群組130及第二裝置群組140,電池210以第一電壓位準供電至智慧型機器人200。 Please refer to FIG. 1, FIG. 2 and FIG. 3A at the same time. FIG. 3A is a flowchart of a power saving method applied to an intelligent robot according to an embodiment of the present invention. The power saving system 2 has a battery 210, a central controller 220, a first device group 130, and a second device group 140. The central controller 220 is electrically connected to the battery 210, the first device group 130, and the second device group 140 The battery 210 supplies power to the intelligent robot 200 at the first voltage level.
在步驟S305中,當電池210由第一電壓位準轉換至第二電壓位準時,中央控制器220控制第一裝置群組130停止接收電池210的供電,通訊裝置250傳送第一關閉訊號至行動裝置,第一電壓位準高於第二電壓位準。 In step S305, when the battery 210 is switched from the first voltage level to the second voltage level, the central controller 220 controls the first device group 130 to stop receiving power from the battery 210, and the communication device 250 transmits the first shutdown signal to the action Device, the first voltage level is higher than the second voltage level.
在步驟S310中,當電池210由第二電壓位準轉換至第三電壓位準時,中央控制器220控制第二裝置群組140停止接收電池210的供電,通訊裝置250傳送第二關閉訊號至行動裝置,第二電壓 位準高於第三電壓位準。 In step S310, when the battery 210 is switched from the second voltage level to the third voltage level, the central controller 220 controls the second device group 140 to stop receiving power from the battery 210, and the communication device 250 transmits a second shutdown signal to the action Device, the second voltage level is higher than the third voltage level.
在步驟S315中,當電池210由第三電壓位準轉換至電壓門檻值時,中央控制器220控制智慧型機器人200的多數電子裝置停止接收電池210的供電,通訊裝置250傳送第三關閉訊號至行動裝置。 In step S315, when the battery 210 is switched from the third voltage level to the voltage threshold, the central controller 220 controls most electronic devices of the smart robot 200 to stop receiving power from the battery 210, and the communication device 250 transmits a third shutdown signal to Mobile device.
請同時參閱圖2及圖3B,圖3B為本發明實施例的馬達的省電方法的方法流程圖。 Please refer to FIG. 2 and FIG. 3B at the same time. FIG. 3B is a method flowchart of a motor power saving method according to an embodiment of the present invention.
在步驟S355中,由中央控制器220判斷USB插槽285及/或電源插槽290是否連接電子裝置,若是,則進入步驟S365,若否,則進入步驟S360。 In step S355, the central controller 220 determines whether the USB slot 285 and/or the power supply slot 290 are connected to an electronic device. If yes, proceed to step S365, if not, proceed to step S360.
在步驟S360中,當通用串行總線插槽285及電源插槽290偵測到沒有連接電子裝置時,中央控制器220控制馬達275接收電池210的供電。 In step S360, when the universal serial bus slot 285 and the power slot 290 detect that no electronic device is connected, the central controller 220 controls the motor 275 to receive power from the battery 210.
在步驟S365中,當通用串行總線插槽285及/或電源插槽290偵測到連接電子裝置時,中央控制器220控制馬達275停止接收電池210的供電。 In step S365, when the universal serial bus slot 285 and/or the power slot 290 detect that the electronic device is connected, the central controller 220 controls the motor 275 to stop receiving power from the battery 210.
請同時參閱圖2及圖4,圖4為本發明實施例的揚聲器的省電方法的方法流程圖。 Please refer to FIG. 2 and FIG. 4 at the same time. FIG. 4 is a flowchart of a power saving method of a speaker according to an embodiment of the present invention.
在步驟S405中,由中央控制器220判斷揚聲器280閒置是否超過第一預設時間,若是,進入步驟S410,若否,進入步驟S415。 In step S405, the central controller 220 determines whether the speaker 280 is idle for more than the first preset time. If so, step S410 is entered, and if not, step S415 is entered.
在步驟S410中,中央控制器220控制揚聲器280停止接收電池210的供電。 In step S410, the central controller 220 controls the speaker 280 to stop receiving power from the battery 210.
在步驟S415中,中央控制器220控制揚聲器280接收電池210的供電。 In step S415, the central controller 220 controls the speaker 280 to receive power from the battery 210.
在步驟S420中,由中央控制器220判斷麥克風265是否接收啟動指令,若是,進入步驟S425,若否,進入步驟S410。 In step S420, the central controller 220 determines whether the microphone 265 receives the activation command. If yes, proceed to step S425, if not, proceed to step S410.
在步驟S425中,由中央控制器220控制揚聲器280接收電池210的供電。 In step S425, the central controller 220 controls the speaker 280 to receive power from the battery 210.
請同時參閱圖2及圖5,圖5為本發明實施例的發光裝置的省電方法的方法流程圖。 Please refer to FIG. 2 and FIG. 5 at the same time. FIG. 5 is a flowchart of a power saving method of a light emitting device according to an embodiment of the present invention.
在步驟S505中,由中央控制器220判斷USB插槽285或電源插槽290是否連接電子裝置,若是,進入步驟S510,若否,進入步驟S515。 In step S505, the central controller 220 determines whether the USB slot 285 or the power slot 290 is connected to an electronic device. If so, proceed to step S510, if not, proceed to step S515.
在步驟S510中,當通用串行總線插槽285及/或電源插槽290偵測到連接電子裝置時,發光裝置255持續發光第二預設時間。 In step S510, when the universal serial bus slot 285 and/or the power slot 290 detect that the electronic device is connected, the light emitting device 255 continues to emit light for a second predetermined time.
在步驟S515中,當通用串行總線插槽285及電源插槽290未偵測到連接電子裝置時,發光裝置255不發光。 In step S515, when the universal serial bus slot 285 and the power slot 290 do not detect the connection of the electronic device, the light emitting device 255 does not emit light.
在步驟S520中,由中央控制器220判斷麥克風265是否接收電量確認指令,若是,進入步驟S525,若否,進入步驟S530。 In step S520, the central controller 220 determines whether the microphone 265 receives the power confirmation command. If so, it proceeds to step S525, and if not, proceeds to step S530.
在步驟S525中,由揚聲器280撥放剩餘電量語音,及發光裝置255持續發光第二預設時間,回到步驟S505。 In step S525, the speaker 280 plays the voice of the remaining power, and the light emitting device 255 continues to emit light for the second preset time, and returns to step S505.
在步驟S530中,由揚聲器280不播放剩餘電量語音,及發光裝置255不發光。 In step S530, the speaker 280 does not play the remaining power voice, and the light emitting device 255 does not emit light.
請同時參閱圖2及圖6,圖6為本發明實施例的麥克風陣列及影像擷取器的省電方法的方法流程圖。 Please refer to FIG. 2 and FIG. 6 at the same time. FIG. 6 is a flowchart of a power saving method of a microphone array and an image capture device according to an embodiment of the present invention.
在步驟S605中,由中央控制器220判斷麥克風是否接收啟動指令,若是,進入步驟S610,若否,進入步驟S615。 In step S605, the central controller 220 determines whether the microphone receives the activation command, if so, it proceeds to step S610, if not, it proceeds to step S615.
在步驟S610中,中央控制器220啟動麥克風陣列260及影像擷取器270。 In step S610, the central controller 220 activates the microphone array 260 and the image capturer 270.
在步驟S615中,中央控制器220不啟動麥克風陣列260及影像擷取器270。 In step S615, the central controller 220 does not activate the microphone array 260 and the image capturer 270.
在步驟S620中,由中央控制器220判斷麥克風265閒置是否超過第三預設時間,若是,進入步驟S625,若否,進入步驟S610。 In step S620, the central controller 220 determines whether the microphone 265 has been idle for more than the third preset time. If so, step S625 is entered; if not, step S610 is entered.
在步驟S625中,由中央控制器220關閉麥克風陣列260及影像擷取器270,以節省能源消耗。 In step S625, the central controller 220 turns off the microphone array 260 and the image capturer 270 to save energy consumption.
綜上所述,本發明所提出一種應用於智慧型機器人的省電系 統及其省電方法,電池提供第一電壓位準。當電池由第一電壓位準降低至第二電壓位準時,關閉第一裝置群組。當電池由第二電壓位準降低至第三電壓位準時,關閉第二裝置群組。分別依據各裝置群組的工作電壓依序降低智慧型機器人的能源消耗。當插槽連接電子裝置時,中央控制器即關閉馬達以增加用電安全性。當麥克風及揚聲器閒置超過預設時間時,電池即停止供電以節省能源消耗。麥克風可透過接收語音指令而開啟麥克風陣列及影像擷取器,以增加人機互動性。 In summary, the present invention proposes a power saving system and a power saving method applied to a smart robot. The battery provides the first voltage level. When the battery decreases from the first voltage level to the second voltage level, the first device group is turned off. When the battery decreases from the second voltage level to the third voltage level, the second device group is turned off. According to the operating voltage of each device group, the energy consumption of the intelligent robot is sequentially reduced. When the slot is connected to an electronic device, the central controller turns off the motor to increase power safety. When the microphone and speaker are idle for more than the preset time, the battery stops supplying power to save energy consumption. The microphone can open the microphone array and the image capturer by receiving voice commands to increase human-computer interaction.
以上該僅為本發明的實施例,其並非用以限定本發明的專利保護範圍。任何熟習相像技藝者,在不脫離本發明的精神與範圍內,所作的更動及潤飾的等效替換,仍為本發明的專利保護範圍內。 The above is only an embodiment of the present invention, which is not intended to limit the patent protection scope of the present invention. Any person who is familiar with similar arts and crafts, without departing from the spirit and scope of the present invention, makes changes and equivalent replacements within the scope of patent protection of the present invention.
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CN201711181066.5A CN109782647A (en) | 2017-11-10 | 2017-11-23 | Electricity-saving system and its electricity saving method applied to intelligent robot |
US15/888,137 US10732599B2 (en) | 2017-11-10 | 2018-02-05 | Power saving system and power saving method for intelligent robot |
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CN109782647A (en) | 2019-05-21 |
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US10732599B2 (en) | 2020-08-04 |
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